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工程设计学报  2024, Vol. 31 Issue (5): 614-622    DOI: 10.3785/j.issn.1006-754X.2024.03.224
优化设计     
快速爬行软体管道机器人的设计与性能分析
刘磊(),温涛,韩伟涛,胡轩铭,胡俊峰()
江西理工大学 机电工程学院,江西 赣州 341000
Design and performance analysis of fast crawling soft pipeline robot
Lei LIU(),Tao WEN,Weitao HAN,Xuanming HU,Junfeng HU()
College of Mechanical and Electrical Engineering, Jiangxi University of Science and Technology, Ganzhou 341000, China
 全文: PDF(3428 KB)   HTML
摘要:

采用锚定-伸缩运动机制的软体管道机器人多以硅胶、水凝胶等柔性材料为主体,可通过柔性材料的变形来实现在管道内的锚定和伸缩,具有良好的柔顺性。但由于柔性材料具有黏弹性和滞后性,软体管道机器人通常表现出较小的作用力和较慢的响应速度,难以快速储存和释放大量机械能,爬行速度缓慢。为解决这一问题,设计了一种可实现快速爬行的软体管道机器人。该机器人由锚定模块和伸缩模块组成,锚定模块利用柔性带的屈曲变形来实现在管道内的锚定,伸缩模块采用以塔簧为主体的软连续体结构来实现伸展与收缩。通过实验测得,该机器人在管道内的最大爬行速度为102 mm/s,最大锚定力为76.4 N,其能够在内径为90~120 mm的管道内实现稳定爬行,且对不同形状的非结构化管道环境具有良好的适应性。结果表明,所设计的机器人不仅能够在水平和竖直管道内实现双向爬行,还能够快速通过S形管道,这可为非结构化管道内软体机器人的设计与研究提供新思路。

关键词: 软体管道机器人锚定模块伸缩模块软连续体结构适应性    
Abstract:

Soft pipeline robots with anchoring-telescoping motion mechanism are typically constructed from flexible materials such as silicone and hydrogel, which can realize anchoring and telescoping in the pipeline through the deformation of flexible materials and have good flexibility. However, due to the viscoelasticity and hysteresis of flexible materials, the soft pipeline robot usually exhibits small force and slow response speed, which is difficult to store and release a large amount of mechanical energy quickly, and the crawling speed is slow. In order to solve this problem, a soft pipeline robot that can realize fast crawling is designed. This robot was composed of an anchoring module and a telescoping module. The anchoring module employed flexural deformation of the flexible belt to achieve the anchoring in the pipeline, while the telescoping module utilized the soft continuum structure with tower springs as main part to facilitate extension and contraction. According to the experimental measurement, the maximum crawling speed of the robot in the pipeline was 102 mm/s and the maximum anchoring force was 76.4 N. The robot was capable of stable crawling in pipelines with inner diameter of 90-120 mm, and had good adaptability to different shapes of unstructured pipeline environment. The results demonstrate that the designed robot can not only achieve bidirectional crawling in horizontal and vertical pipelines, but also quickly pass through S-shaped pipelines, which can provide new ideas for the design and research of soft robots in unstructured pipelines.

Key words: soft pipeline robot    anchoring module    telescoping module    soft continuum structure    adaptability
收稿日期: 2023-12-18 出版日期: 2024-10-30
CLC:  TH 122  
基金资助: 国家自然科学基金资助项目(52165011);江西省自然科学基金资助项目(20212BAB204028);江西省自然科学基金重点项目(联合资助)(20202ACBL204009);江西省研究生创新专项资金项目(YC2022-S670)
通讯作者: 胡俊峰     E-mail: 2457540495@qq.com;hjfsuper@126.com
作者简介: 刘 磊(1997—),男,硕士生,从事软体机器人研究,E-mail: 2457540495@qq.com,https://orcid.org/0009-0007-5020-1221
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引用本文:

刘磊,温涛,韩伟涛,胡轩铭,胡俊峰. 快速爬行软体管道机器人的设计与性能分析[J]. 工程设计学报, 2024, 31(5): 614-622.

Lei LIU,Tao WEN,Weitao HAN,Xuanming HU,Junfeng HU. Design and performance analysis of fast crawling soft pipeline robot[J]. Chinese Journal of Engineering Design, 2024, 31(5): 614-622.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2024.03.224        https://www.zjujournals.com/gcsjxb/CN/Y2024/V31/I5/614

图1  锚定-伸缩运动机制示意
图2  柔性带和软连续体结构
图3  锚定模块结构
图4  伸缩杆结构
图5  伸缩模块结构
图6  单个爬行周期内机器人的运动示意
图7  机器人样机及控制系统
图8  机器人速度随爬行周期的变化曲线
图9  机器人最大爬行速度随塔簧数量和电机转速的变化情况
图10  机器人负重爬行演示
图11  机器人最大爬行速度随负重的变化曲线
图12  锚定模块实物图
图13  锚定模块最大外径随锚定时间的变化曲线
图14  贴有硅胶片的柔性带
图15  锚定模块测试平台
图16  锚定模块在不同内径管道中的最大锚定力
图17  锚定模块最大锚定力随伸缩杆推力的变化曲线
图18  锚定模块在不同形状管道中的最大锚定力
图19  机器人在水平管道内双向爬行演示
图20  机器人在竖直管道内爬行演示
图21  机器人在S形管道内爬行演示
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